automatic fire fighting robot

AUTOMATIC FIRE FIGHTING ROBOT
CHAPTER-1
INTRODUCTION
Robotics is one of the fastest growing engineering field of today’s era. Robots are
designed to remove the humans factor for dangerous work and also for difficult
environment. The use of robot is more widely used than ever before.
The need of fire extinguisher Robot is that can detect and extinguish the fire at its
own risk. Our aim as a engineers is to design such a device which can automatically
Detect and extinguish the fire. Also aims to reduce the air pollution. It is a protocol
which can move through a model structure, find a fire and extinguish with the help of the
water Jet.
Robots are very intelligent devices which can be use according to our use and our
requirement. Keeping all the things in mind the robot is capable of being remotely
controlled through the Arduino uno.
We have used very basic concept here, which are very easy to understand from the
beginning to end for fresher’s as well as for the masters in the engineering field and
robotics. Fire can be originate when there is no one in the home or all are sleeping in the
home. With the invention of such robots peoples and property can be saved at a much
higher rate with minimised damaged caused of fire. In this paper, we proposed a design
and implementation of Robot. This robot can move through a model structure, and find a
fire and then extinguish with the help of water jet. This meant that to simulate the real
world operation of a Robot performing a fire extinguish functions in a oil field. Keep all
things in mind the robot is capable of being remotely controlled and live video of fire
status.
In the realm of modern technological advancements, the development of automated

systems has revolutionized various industries, ranging from manufacturing to healthcare.
One such critical application lies in the field of emergency response and disaster
management, where innovation has paved the way for the creation of Fire Fighting
MGM polytechnic college, Pampakuda Page 1

Robots – automated machines designed to combat fires in hazardous and challenging

environments.
Fires, often unpredictable and swift in their destructive potential, pose a significant
threat to life, property, and the environment. Traditional firefighting methods, while
effective, are often limited in their applicability, especially in scenarios where human
intervention could be perilous. This realization has spurred the exploration of cutting-
edge solutions that leverage robotics and automation to augment firefighting efforts.
Fire Fighting Robots represent a convergence of engineering, robotics, and

artificial intelligence. These machines are engineered to navigate through spaces that
may be inaccessible or hazardous to human responders. Equipped with an array of
sensors, thermal imaging cameras, and advanced extinguishing mechanisms, these robots
are capable of identifying fire sources, assessing the intensity of flames, and executing
precise firefighting maneuvers.
The integration of these robots into firefighting operations is a testament to the

relentless pursuit of enhancing emergency response capabilities. By minimizing human
exposure to danger and enhancing firefighting efficiency, Fire Fighting Robots have the
potential to save lives, reduce property damage, and improve the overall effectiveness of
emergency management.
This report delves into the detailed design and development of an "Automatic Fire
Fighting Robot," with a specific focus on the utilization of Arduino technology. Under
the guidance of Dr. Md. Tabrez, the report comprehensively explores the technical
aspects, economic viability, and innovative potential of this automated solution. Through
this exploration, we aim to contribute to the ongoing discourse on enhancing firefighting
capabilities through the integration of advanced robotics and automation.

CHAPTER-2
LITERATURE REVIEW
Tawfiqur Rakib, M. A. Rashid Sarkar proposed a fire fighting robot model which
consists of a base platform made up of ‘Kerosene wood’, LM35 sensor for temperature
detection, flame sensors to detect the fire and a water container of 1 litre capacity
which is made up of a strong cardboard that makes it water resistant. The robot has two
wheels for its movement. [1]
Saravanan P. ,Soni Ishawarya proposed a model which uses Atmega2560 micro-

controller and in which the robot is divided into three basic units according to their
functions which are as locomotive unit, fire detecting unit and extinguishing unit. Each
unit performs their task in order to achieve the desired output of extinguishing fire. The
locomotive unit is used for the movement of the robot and to avoid the obstacles with
the help of four IR and four ultrasonic sensors .The fire detecting unit is used to detect
fire using LDR and temperature sensor. The extinguishing unit is used to extinguish the
fire using water container and BLDC motor. The robot also have a Bluetooth module
that is connected with the smartphones in order to navigate it in the proper direction.
[2]
S. Jakthi Priyanka. Sangeetha proposed an android controlled fire fighting robot

which uses Arduino UNO R3. The robot consists of gas sensor for fire detection, gear
motor and motor drive for the movement of robot, a bluetooth module to connect the
robot with the android device and to control the robot with the smartphone as well.
Water pump and sprinkler is also used in this. To instruct the Arduino UNO an open
source software which is Arduino IDE is required to code and to implement that code
in Arduino UNO. [3]
Nagesh MS, Deepika T V , Stafford Michahial, Dr M Shivakumar proposed a fire

extinguishing robot which employs DTMF (Dual Tone Multi Frequency Tones)
technology for the navigation of the robot and uses a flame sensor for fire detection that

is capable of sensing flame of the wavelength range 760 to 1100 nm and sensitivity
varies from 10cm to 1.5feet. [4]
Sushrut Khajuria, Rakesh Johar, Varenyam Sharma, Abhideep Bhatti proposed an

Arduino based fire fighter robot which consists of RF based remote operation to
operate therobot and water pump. The robot is controlled by the user within a range of
7 meters .It also consists of a wireless camera which helps user to move the robot in the
required direction.[5]
Khaled Sailan, Prof. Dr.-Ing. Klaus-Dieter Kuhnert, Simon Hardt proposed an

obstacle avoidance robot named as Amphibious Autonomous Vehicle. In this robot, a
fuzzy controller is used to avoid static obstacle in real time. It aims to guide the robot
or vehicle along its path avoiding all the obstacle that comes along the path.[6]
J Jalani1 , D Misman1 , A S Sadun1 and L C Hong1 proposed a automatic fire

fighting robot with notification. This robot consists of three flame sensors for fire
detection in left ,right and center direction. It also consists of three ultrasonic sensors
for obstacle detection and avoidance. When the robot detects fire it also sends a
warning notification to the user using Bluetooth module.[7]

CHAPTER-3
CONCEPT DESIGN/METHEDOLOGY
In this section, the prototype of robotic system is presented, in which it consists of

IR flame sensors, servo motors, submersible water pump, motor driver, mini breadboard,
BO motors, rubber wheels, processor, and communication module for exchanging data
between the fire-fighting robot and Arduino software. Fig 2 shows the basic prototype of
our firefighting robot.
3.1 Mechanical Design

 Design the chassis to accommodate all the components securely.
 Mount the wheels and motors to enable controlled movement.
 Create space for the water pump and tank while ensuring they don't interfere with
other components.
 Place the sensors at appropriate locations for effective fire and obstacle detection.
3.2 Sensor Integration
 Connect IR sensors, temperature sensor, and smoke sensor to the Arduino.

 Calibrate the sensors to accurately detect fire and obstacles.
 Write code to interpret sensor data and trigger appropriate actions.
3.3 Motor Control

 Connect motor driver to the Arduino to control the movement of wheels.
 Write code to control the motors for forward, backward, left, and right
movements.
3.4 Fire Detection Algorithm

 Combine data from IR sensors, temperature sensor, and smoke sensor to detect
fires.
 Define thresholds for each sensor that indicate the presence of fire.
 Implement an algorithm to trigger fire-fighting actions when a fire is detected.
3.5 Fire-Fighting Mechanism

 Connect the water pump to the Arduino through a relay.

 Design a mechanism to aim and spray water at the fire source.
 Write code to activate the water pump when a fire is detected.
3.6 Obstacle Avoidance
 Use IR sensors to detect obstacles in the robot's path.
 Implement an algorithm to navigate around obstacles.
3.7 Remote Control (Optional)
 Add Bluetooth or Wi-Fi module to the Arduino for remote control.

 Develop a smartphone app or computer program to control the robot remotely.
3.8 Power Supply

 Select an appropriate power source (batteries) for the robot and its components.
 Ensure the power supply can sustain the robot's operations.
3.9 Testing and Refinement

 Test the robot's functionality in a controlled environment.
 Refine the code and mechanical design based on test results.

CHAPTER-4
WORKING PRINCIPLE
Fig: 4.1 Simple Block Diagram
The flame sensor senses the fire and send the information to the Arduino which is
the brain of this robot. The brain will take the action according to the condition and
information getting from the sensor. Arduino will give the commands to the Motors to
start and walk in the desired direction. if left sensor gives the information about the fire,
then the Arduino will run the motor in left direction. Same for the front and right-side
motor. The robot car will stop near to the fire and start watering to it till the fire will be
under control.

Fig: 4.2 Circuit Diagram
A firefighting robot car built using an Arduino Uno involves combining various
components and programming to create a system that can detect and extinguish fires
autonomously. Here's a general overview of the working principle:
 Arduino Uno: The microcontroller that serves as the brain of the robot.
 Flame Sensor: To detect the presence of a fire.
 12 Motor Drivers: To control the movement of the robot's wheels.
 DC Motors: To drive the wheels of the robot.
 Water Pump and Tank: To carry and spray water for firefighting.
 Chassis: The physical structure of the robot that holds all the components.
 Batteries: To power the robot and its components.

CHAPTER-5
WORKING
 Flame Detection: The flame sensor continuously monitors the surrounding

environment for the presence of flames. When it detects flames, it sends a signal to
the Arduino Uno.
 Signal Processing: The Arduino Uno receives the signal from the flame sensor and
processes it. It verifies if the flame is real and not a false positive due to other sources
of light or heat.
 Movement Control: Once the presence of a fire is confirmed, the Arduino triggers the
motor drivers to control the movement of the robot. The motor drivers regulate the
speed and direction of the DC motors that propel the robot.
 Navigation: The robot moves towards the detected fire source. Navigation can be
based on predefined paths or using obstacle avoidance algorithms (such as ultrasonic
sensors) to navigate around obstacles.
 Fire Suppression: As the robot approaches the fire, the water pump is activated.
Water from the tank is sprayed onto the fire to suppress it. The pump's activation can
be controlled by the Arduino, and the flow of water can be directed using nozzles.
 Safety Measures: The robot's design should incorporate safety features to prevent the
robot from getting damaged by the fire. This might include heat-resistant materials,
protective covers for sensitive components, and emergency shutdown mechanisms.
 Feedback and Monitoring: The robot can include sensors to monitor its own
temperature, battery levels, and other parameters. This information can be sent back
to the Arduino, allowing it to make decisions based on the robot's condition.
 Autonomous Operation: The entire process, from flame detection to fire suppression,
is designed to be autonomous. The robot operates independently once it's activated.

5.1 EXPLANATION
 The code defines the pin to which the fire sensor's OUT pin is connected as a
digital input.
 In the loop() function, the code reads the state of the fire sensor's output pin using
the digital Read() function.
 If the output is HIGH, it means a flame is detected, and the Arduino sends a
message through the Serial Monitor.
 If the output is LOW, it means no flame is detected, and another message is sent.

CHAPTER-6
SIMULATION / EXPERIMENT
6.1 FIRE FIGHTING ROBO CAR CIRCUIT SIMULATION
Once the circuit is designed in the schematic editor, we can run simulations to
see how the circuit behaves under different conditions. Proteus supports various types
of simulation, including DC analysis (steady-state analysis), AC analysis (frequency
response analysis), transient analysis (time-domain analysis), and more. These
simulations help us understand how the circuit's components interact and how signals
propagate through the circuit.
Fig: 6.1 Simulation Diagram.
The Arduino Uno needs to be programmed to handle the various tasks,

including reading data from the flame sensor, controlling the motors, managing the
water pump, and making decisions based on the sensor inputs. We would need to
write code that integrates all these functionalities and ensures the robot operates
safely and effectively. Please note that building such a robot involves a fair amount
of electronics, mechanics, and programming knowledge. Safety measures are crucial
to prevent accidents, especially when dealing with fire. Always take appropriate

precautions and consider seeking guidance from experts if you're not familiar with all
aspects of building and programming such a robot.
6.2 PROGRAM CODE REVIEW
// Motor A connections
#include <Servo.h>
int enA = 7;
int in1 = 3;
int in2 = 4;
// Motor B connections
int enB = 8;
int in3 = 5;
int in4 = 6;
Servo myservo;
int pos = 65;
void setup() {
Serial.begin(9600);
myservo.attach(10);
myservo.write(105);
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(enC, OUTPUT);
pinMode(in1, OUTPUT);
// Turn off motors - Initial state
analogWrite(in1, LOW);
digitalWrite(in5, LOW);
}
void loop() {
analogWrite(in1, 0);
int sensorReading = analogRead (A0);
int sensorReading2 = analogRead (A1);
// Map sensor value between range 0-3
int range = map (sensorReading, 0, 1024, 0, 3);
if (range ==0){
Center();
Serial.print("0");
}
if (range ==1 ){
Serial.print("1");
}
int range2 = map (sensorReading2, 0, 1024, 0, 3);
if (range2 ==0){
Center();
Serial.print("0");
}
if (range2 ==1 ){
Serial.print("1");
}
}
void Center() {
Forward();
delay(2000);
Stop();

digitalWrite(in5, HIGH);
analogWrite(enC, 255);
for (pos = 75; pos <= 140; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15 ms for the servo to reach the position
}
for (pos = 140; pos >= 75; pos -= 1) { // goes from 180 degrees to 0 degrees
}
for (pos = 75; pos <= 140; pos += 1) { // goes from 0 degrees to 180 degreesa
// in steps of 1 degree
}
for (pos = 140; pos >= 75; pos -= 1) { // goes from 180 degrees to 0 degrees
}
}
void Forward() {
// Turn on motors
analogWrite(enA, 255);
analogWrite(enB, 255);

}
void Forwardslow() {
// Turn on motors
}
void Left() {
// Turn on motors
}
void Right() {
// Turn on motors
}
void Pumpon() {
digitalWrite(in5, HIGH);
}

void Stop() {
}
6.3 COMPONENTS REQUIRED
i. Arduino Board (UNO)
ii. Flame sensor module (3 Nos)
iii. Servo Motor (SG90)
iv. L293D motor Driver module
v. Mini DC Submersible Pump
vi. Small Breadboard
vii. Robot chassis with motors (two wheels)
viii. On – off switch
ix. Connecting wires/ jumper wire
x. Bread board
xi. Battery 12v
xii. USB cable
 Arduino Uno: The brain of the robot, controlling various components.
 Motor Driver: To control the movement of the robot's wheels.
 Chassis: The base structure to mount all the components.
 Wheels and Motors: For mobility.
 IR Sensors: To detect the presence of fire or obstacles.
 Temperature Sensor: To detect temperature changes indicating fire.

 Smoke Sensor: To detect the presence of smoke.
 Water Pump and Tank: For extinguishing fires.
6.3.1 Components and features of the Arduino Uno board
Fig: 6.2 Arduino UNO
Fig: 6.3 Programme Cable
 Microcontroller: The heart of the Arduino Uno is its microcontroller. The board is
powered by an ATmega328P microcontroller, which is a type of microprocessor that

can execute program instructions, process data, and interact with external
components.
 Digital Input/Output Pins: The board features a set of digital input/output (I/O) pins
(14 in total), which can be used to connect various sensors, LEDs, switches, and other
components. These pins can be configured as either inputs or outputs and can be
controlled using code.
 Analog Input Pins: The Arduino Uno has 6 analog input pins, labeled A0 through A5.
These pins can be used to read analog voltage levels from sensors and other analog
devices. They are useful for tasks like reading temperature, light intensity, or other
continuous signals.
 PWM (Pulse Width Modulation): Some of the digital pins on the Arduino Uno
support PWM. PWM is a technique used to simulate analog voltage levels by rapidly
switching a digital pin on and off. This is commonly used for controlling the
brightness of LEDs or the speed of motors.
 Serial Communication: The Arduino Uno has a built-in USB-to-serial converter,

which allows it to communicate with a computer through a USB connection. This is
used for uploading code to the board and for serial communication between the board
and external devices.
 Power Supply: The board can be powered via USB or an external power supply (7-
12V). It has a built-in voltage regulator that provides a stable 5V supply to power the
microcontroller and other components.
 Reset Button: A reset button allows you to restart the microcontroller and your
program execution.
 Crystal Oscillator: The microcontroller relies on a crystal oscillator to provide

accurate timing for its operations.
 Headers and Connectors: The Arduino Uno features male headers that allow you to
easily connect jumper wires, shields (add-on boards), and other components to the
board.
 LED Indicators: The board has LED indicators for power and various I/O activities,
which can be helpful for debugging and monitoring the board's status.

 Open-Source Platform: Arduino is an open-source platform, which means that the

hardware schematics and software libraries are freely available. This encourages
collaboration, innovation, and sharing of knowledge within the Arduino community.
6.3.2 Flame sensor module
Fig: 6.4 Flame Sensor.
A flame sensor module is an electronic device used to detect the presence of a flame
or fire. It is commonly used in various applications such as safety systems, industrial
equipment, gas appliances, and robotics. The primary purpose of a flame sensor module
is to provide an early warning or trigger an appropriate response when it detects a flame,
helping to prevent accidents and fires. The basic working principle of a flame sensor
module involves detecting the infrared (IR) radiation emitted by flames. Flames emit a
specific range of infrared wavelengths, and the sensor module is designed to be sensitive
to these wavelengths. When a flame is present, the sensor module generates a signal that
can be used to activate alarms, shut down equipment, or trigger other safety mechanisms.
The simplified breakdown of how a flame sensor module works is:
 IR Sensor: The module typically includes an infrared (IR) sensor that can detect
infrared radiation.
 Amplification and Processing: The IR sensor's output is amplified and processed by

the module's internal circuitry. This processing is necessary to distinguish between
the IR radiation emitted by flames and other sources of IR radiation, such as sunlight
or artificial lighting.

 Threshold Detection: The processed signal is compared against a predefined threshold.

If the signal exceeds this threshold and matches the signature of flamegenerated IR
radiation, the module considers a flame to be present.
 Output Signal: When a flame is detected, the module generates an output signal. This
signal can be used to trigger alarms, activate safety protocols, or control other devices
as needed.
 Calibration: Some flame sensor modules might offer calibration options to adjust the
sensitivity or response time based on the application's requirements.
6.3.3 Servo Motor (SG90)

The SG90 is a popular model of servo motor commonly used in hobbyist and
smallscale robotics projects. It's a compact and affordable motor that provides
precise control over angular motion.
Fig: 6.5 Servo Motor
 Operating Voltage: The typical operating voltage for the SG90 servo motor is
around 4.8V to 6V. It's important to power the motor within this range to ensure
proper.
 Functionality Torque: The torque of the SG90 servo motor is relatively modest,
making it suitable for lightweight applications. The torque is usually around 1.5
kg-cm to 2.5 kg-cm, depending on the operating voltage.

 Speed: The speed of the SG90 servo motor is typically around 0.1 seconds per 60
degrees rotation (at 4.8V). Keep in mind that the speed might vary depending
on the load and voltage.
 Control Signal: The SG90 servo motor is controlled using a PWM (Pulse Width
Modulation) signal. A typical PWM signal has a pulse width ranging from 1 ms
to 2 ms. The exact pulse width determines the position of the servo motor's
shaft.
 Limitations: The SG90 servo motor is not suitable for heavy-duty applications
due to its relatively low torque and speed. If you need more power, you might
want to consider larger and more powerful servo motor models.
6.3.4 L293D motor Driver module
The L293D is a popular integrated circuit (IC) used as a motor driver module
in various robotics and electronics projects. It is designed to control small DC
motors or stepper motors and is commonly used in applications like robotic
vehicles, motorized toys, and automation systems. The L293D module helps
interface these motors with microcontrollers like Arduino, Raspberry Pi, or other
similar platforms.
Fig: 6.6 Motor Driver.

 H-Bridge Configuration: The L293D consists of two H-bridge circuits. An H-

bridge is a configuration that allows you to control the direction of rotation of a
motor by controlling the polarity of the voltage applied to its terminals.
 Motor Control: The L293D can control two DC motors independently, enabling
forward, reverse, and braking/stop operations. It can also control a single
stepper motor.
 Current Handling: The L293D can handle moderate currents for small to
mediumsized motors. It's important to note that the current handling capability
of the L293D is limited, and it might not be suitable for high-current motors.
 Voltage Ratings: The L293D module typically supports a wide range of motor
supply voltages, often from 4.5V to 36V. It's important to ensure that the
voltage supplied to the motors is within the specified range.
 Logic Voltage Levels: The module operates with two voltage levels – one for the
motor supply (Vcc) and another for the logic supply (Vcc1 or Vcc2). The logic
supply voltage is typically around 5V.
 Control Inputs: The L293D module requires control signals to determine the
motor's rotation direction and whether it should be stopped. These control
inputs are usually in the form of digital signals (high or low) and are often
labeled as IN1, IN2, IN3, and IN4.
 Enable Pins: Each motor channel has an enable pin (EN) that can be used to
enable or disable the motor driver output for that channel. This feature can be
useful for PWMbased speed control.
 Protection Diodes: The L293D includes protection diodes to prevent back EMF
(electromotive force) from damaging the IC when the motor is stopped or
reversed.
 Heat Dissipation: Due to its limited current handling, the L293D can generate
heat, especially when driving motors near its maximum ratings. Adequate heat
sinks or ventilation might be required in such cases.
6.3.5 Mini DC Submersible Pump

A mini DC submersible pump is a small water pump designed to be

submerged in liquid, usually water, and powered by direct current (DC) electricity.
These pumps are commonly used for various applications that require moving or
transferring liquids from one place to another.
Fig: 6.7 Water Pump.
 Compact Size: Mini DC submersible pumps are designed to be small and lightweight,
making them suitable for applications where space is limited.
 Submersible Design: These pumps are meant to be submerged in the liquid they are
pumping. The submersible design eliminates the need for priming and allows for
efficient pumping even in low liquid levels.
 Low Power Consumption: DC pumps are known for their energy efficiency, making
them suitable for battery-powered systems, solar setups, and other low-power
applications.
 Variable Flow Rates: Many mini DC submersible pumps offer adjustable flow rates,
allowing users to control the amount of liquid being pumped.
 Easy Installation: These pumps are relatively easy to install, requiring minimal
plumbing or setup.

6.3.6 Small Breadboard
Fig: 6.8 Mini Breadboard..
A small breadboard is a fundamental tool used in electronics prototyping and circuit

design. It's essentially a platform that allows you to quickly and easily create temporary
electronic circuits without soldering. Breadboards are commonly used by hobbyists,
students, and professionals to test out circuit ideas before building them on a more
permanent medium
6.3.7 Robot chassis with motors (Four wheels)
Fig: 6.9 Robot Chassis

A robot chassis with four wheels and motors is a common configuration used in
various 29 robotics projects, especially in wheeled robots or mobile platforms. This type
of setup provides mobility and allows the robot to move in different directions. Here's
some basic information about such a chassis
6.3.8 ON – OFF switch
Fig: 6.10 ON/OFF Switch.
The Touch ON and OFF Switch Circuit is built around a 555 timer by making use
of the default properties of the Pins of the 555 Timer IC. With the help of this circuit, you
can turn ON and OFF a device by simply touching the Touch Plates
6.3.9 Connecting wires/ jumper wire
Fig: 6.11 Jumper Wire.

Jumper wires are electrical wires used to create temporary connections between
different components on a breadboard or in various electronic projects. They are
typically made of flexible insulated wire with connectors, such as pins or alligator clips,
at the ends. Jumper wires are commonly used in prototyping and experimenting with
electronic circuits, allowing you to quickly connect and disconnect components without
soldering.
6.3.10 Battery
Fig: 6.12 Lithium ion Battery.
The Li ion 18650 Cylindrical rechargeable battery boasts several advantages

over NiMH batteries, including a lack of memory effect and a longer storage life.
Additionally, This battery has a higher energy density and is lighter weight than
any other rechargeable battery. With a capacity of 2200mAh, this Li ion battery has
a high energy density and weighs less than other rechargeable batteries. It has been
tested to the International Electro technical Commission (IEC) Standard to ensure
its capacity, quality, and lifetime.

CHAPTER-7
RESULT AND DISCUSSION

7.1 RESULT
Fig: 7.1 Completed Stracture.
Fire Fighting Robot has developed to reduce human life lost and to develop such a
device that automatically sense fire and extinguish it without human intervention. In this
the fireplace is detected using the IR Flame sensors and are connected to Arduino UNO,
which control the movement of Motor drive that helps the robot to reach the fireplace
and extinguishes it with the pumping mechanisms. In the industry if any fire accident
occurs, there is a need of person to monitor continuously and rectify it. In this process if
any time delay takes place irreparable loss occurs in industry. The firefighting robot
continuously monitors the surrounding and helps in extinguishing the fire. Fig 11 shows
the overall prototype of Fire Fighting Robot

7.1.1 Robot Car Design and Construction
The fire-fighting robot car was successfully designed and constructed using an
Arduino Uno microcontroller as the central control unit. The chassis was equipped
with two DC motors to enable movement, and a water pump system was integrated to
simulate the fire-fighting mechanism. The car's structure allowed it to navigate
through obstacles and reach the fire source efficiently.
7.1.2 Fire Detection and Localization
The fire detection system, consisting of a flame sensor module, performed

effectively in identifying the presence of a fire. When the flame sensor detected a
flame, it triggered the robot car to initiate its fire-fighting procedures. The robot car's
ability to locate the fire source was accurate, allowing it to navigate towards the
flames without external intervention.
7.1.3 Navigation and Movement
The Arduino Uno, serving as the brain of the robot car, processed the sensor
inputs and determined the appropriate actions for navigation. The integration of a
motor control system enabled precise movements, allowing the robot car to maneuver
through a predefined path. However, challenges were encountered in complex
environments with rapidly changing obstacles.
7.1.4 Fire-Fighting Mechanism
Upon detecting the fire source, the robot car activated its water pump system to
simulate fire extinguishing. The water pump delivered water from a reservoir to a
nozzle positioned strategically on the car's chassis. While the system effectively
dispensed water, the water pressure and coverage required optimization to ensure
efficient fire suppression.
7.1.5 Performance Evaluation
The performance of the fire-fighting robot car was evaluated through a series of
controlled tests. The car successfully detected and localized fire sources in various
scenarios. It exhibited accurate navigation and reached the fire location within an
acceptable timeframe. However, the effectiveness of the water-based fire-fighting
mechanism depended on factors such as water pressure, nozzle design, and fire
intensity.
7.2 DISCUSSION
We have take inspiration from the technique and tools used by human being fire
fighters. Historical fire fighting equipment like old water pump or early fire engines can
spark ideas for designing the robot’s tools and mechanism. The Human body’s ability
to sense and react to danger can inspire the design of sensors and algorithm for the
robot. We have considered the needs and challenges faced by fire fighters and
emergency responders
Environmental Adaptation: Looking at how animals and plants adapt to different

environments. We have design a robot that can change its mode of operation based on
the fire scenario could be a unique approach.
Designing a firefighting robot can be inspired by various sources and

considerations. Aerial Drones: Drones used for aerial firefighting can inspire the design
of robots that can access hard-to-reach areas or provide aerial views of the fire scene.
These drones often carry firefighting agents like water or foam.
Underwater Robotics: If firefighting involves scenarios like shipboard fires or

underwater environments, underwater robotics can provide inspiration. These robots are
designed to navigate and perform tasks in challenging aquatic conditions.
Animal Behaviour: Observe how animals respond to fires or escape from danger.
Some animals have developed unique strategies for survival, which can inspire robot
behaviors, sensor placements, or navigation methods.
Innovative Materials: Explore new fire-resistant materials or coatings that can

protect the robot from heat and flames. Biomimicry, where nature-inspired materials
are used, can lead to novel solutions..
Futuristic Concepts: Science fiction and futurism can provide creative ideas for
how firefighting robots might look and function in the future. Just remember to ground
these concepts in real-world feasibility.

Human Anatomy: The human body's ability to sense and react to danger can
inspire the design of sensors and algorithms for the robot. For example, thermal
imaging can mimic the human ability to detect heat.

CHAPTER-8
FUTURE SCOPES
The future scope of fire-fighting robot projects holds exciting potential for
addressing challenges in emergency response and enhancing firefighting capabilities.
Here are some potential directions and areas of development that researchers and
engineers might explore:
 Improved Mobility and Terrain Adaptation: Develop robots capable of navigating

diverse and complex terrains, including rough surfaces, debris, and staircases and
create more agile and versatile robotic platforms to effectively maneuver through
disaster-stricken environments.
 Advanced Sensing and Perception: Integrate advanced sensor technologies, such as
multispectral imaging and hyperspectral sensors, to enhance the robot's ability to
detect fires, hazardous materials, and survivors. and research sensor fusion
techniques to provide a more comprehensive understanding of the environment.
 Enhanced Fire Detection and Localization: Investigate AI-powered algorithms for
early fire detection and accurate localization using a combination of visual, thermal,
and gas sensors and Implement real-time analytics to predict fire behavior and guide
robot actions.
 Autonomous Decision-Making: Develop robust AI algorithms that enable fire-
fighting robots to make autonomous decisions based on real-time data, reducing the
need for constant human intervention and implement adaptive strategies for
firefighting and navigation in dynamic and unpredictable environments.
 Collaborative Multi-Robot Systems: I. Research ways to coordinate multiple fire-
fighting robots in a collaborative manner to optimize firefighting efforts and explore
swarm robotics concepts to enable coordinated search and rescue operations.
 Advanced Fire Suppression Techniques: Innovate new methods for fire suppression,
such as using specialized extinguishing agents, localized cooling, and dynamic fire
barriers and design robots capable of adapting their suppression techniques based on
fire size, type, and intensity.

 Human-Robot Interaction and Communication: Develop intuitive interfaces for

human operators to control and communicate with robots effectively during
emergencies and investigate natural language processing and gesture-based control
for seamless human robot interaction
 Energy Efficiency and Endurance: Research energy-efficient power sources and
management systems to extend the operational endurance of fire-fighting robots and
explore innovative charging and refueling mechanisms for sustained use.
 Real-Time Data Sharing and Visualization: Develop systems that allow fire-fighting
robots to share real-time data with emergency responders, incident commanders, and
other stakeholders create visualization tools for better situational awareness and
decision-making.
 Ethical and Safety Considerations: Address ethical concerns related to robot
autonomy, accountability, and the potential impact on human responders and develop
fail-safe mechanisms and protocols to ensure safe and responsible robot deployment

CHAPTER 9
CONCLUSION
In conclusion, the fire-fighting robot car demonstrated the potential of using an

Arduino Uno microcontroller for autonomous fire detection and suppression. While the
prototype showed promising results, further refinement is necessary to overcome the
identified limitations and enhance its overall performance. This project serves as a
foundation for future developments in fire-fighting automation and robotics using
Arduino-based platforms.
This model of Fire Extinguishing Robot aids to share out the burden of fire fighters
in firefighting task. Our project aims to build a real time firefighting robot which moves
in a constant speed, identify the fire and then extinguish it with the help of pumping
mechanism. The detection and extinguishing was done with the help basic hardware
components attached with the robot. Firstly, IR Flame sensors are used for the detection
of fire. Secondly, BO Motors and Rubber wheels are used to navigate the robot to reach
the fireplace.
Finally, the robot extinguishes the fire with the help of submersible water pump and
servo motors. Through this we can conclude that a robot can be used in place of humans
without risk of human beings life as well as life of the fire fighters. We can use this robot
in our homes, labs, offices etc. This robot will provide us greater efficiency to detect the
flame and it can be extinguish before it become uncontrollable and threat to life. Hence,
this robot will be very helpful and can play a important role.
This project has been motivated by the desire to design a system that can detect
fires. In the present condition it can extinguish fire only in the way and not in all the
rooms. It can be extended to a real fire extinguisher by increasing robot size and
configurations. This provides us the opportunity to pass on to robots tasks that
traditionally humans had to do but were inherently life threatening.

REFERENCES
[1] Tawfiqur Rakib, M. A. Rashid Sarkar, “Design and fabrication of an autonomous

firefighting robot with multi sensor fire detection using PID controller”, ICIEV
Vollum 23 issue-1 JUNE 2016.
[2] Saravanan P. ,Soni Ishawarya, “Android controlled intergrated semi-autonomous

firefighting robot”, Ineternational journal of innovative science Engg. and
Technology 2015.
[3] S. Jakthi Priyanka,R. Sangeetha, “Android controlled firefighting

robot”,Ineternational journal of innovative science Engg. and Technology ,Volumn 3,
2017.
[4] Nagesh MS, Deepika T V , Stafford Michahial, Dr M Shivakumar, “Fire

Extinguishing Robot”, International Journal of Advanced Research in Computer and
Communication Engineering, Vol. 5, Issue 12, December 2016.
[5] Sushrut Khajuria, Rakesh Johar, Varenyam Sharma, Abhideep Bhatti, “ Arduino
Based Fire Fighter Robot”,International Journal of Scientific Engineering and
Research (IJSER),Volume 5 Issue 5, May 2017.
[6] Khaled Sailan, Prof. Dr. Ing. Klaus- Dieter Kuhnert “Obstacle avoidance stratergy
using fuzzy logic steering control of amphibious autonomous vehicle”, International
journal of innovative science Engg. and Technology ,Volumn 2, 2015
[7] J Jalani1 , D Misman1 , A S Sadun1 and L C Hong1,“Automatic fire fighting robot

with notification”,IOP Conference Series: Materials Science and Engineering,
Volume 637, The 3rd International Conference on Robotics aynd Mechantronics
(ICRoM 2019) 9–11 August 2019, Sabah, Malaysia.
[8] Rashid Sarkar, “Design and fabrication of an autonomous firefighting robot with
multi sensor fire detection using PID controller”, ICIEV Volumn 23 issue-1 JUNE
2016.
[9] Saravanan P. “Android controlled intergrated semi-autonomous firefighting robot”,

Ineternational journal of innovative science Engg. and Technology 2015.


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AUTOMATIC FIRE FIGHTING ROBOT

In the realm of modern technological advancements, the development of automated

MGM polytechnic college, Pampakuda Page 1

Robots – automated machines designed to combat fires in hazardous and challenging

Fire Fighting Robots represent a convergence of engineering, robotics, and

The integration of these robots into firefighting operations is a testament to the

MGM polytechnic college, Pampakuda Page 2

Saravanan P. ,Soni Ishawarya proposed a model which uses Atmega2560 micro-

S. Jakthi Priyanka. Sangeetha proposed an android controlled fire fighting robot

Nagesh MS, Deepika T V , Stafford Michahial, Dr M Shivakumar proposed a fire

MGM polytechnic college, Pampakuda Page 3

Sushrut Khajuria, Rakesh Johar, Varenyam Sharma, Abhideep Bhatti proposed an

Khaled Sailan, Prof. Dr.-Ing. Klaus-Dieter Kuhnert, Simon Hardt proposed an

J Jalani1 , D Misman1 , A S Sadun1 and L C Hong1 proposed a automatic fire

MGM polytechnic college, Pampakuda Page 4

In this section, the prototype of robotic system is presented, in which it consists of

3.1 Mechanical Design

3.2 Sensor Integration

 Connect IR sensors, temperature sensor, and smoke sensor to the Arduino.

3.3 Motor Control

3.4 Fire Detection Algorithm

3.5 Fire-Fighting Mechanism

 Connect the water pump to the Arduino through a relay.

3.7 Remote Control (Optional)

 Add Bluetooth or Wi-Fi module to the Arduino for remote control.

3.8 Power Supply

3.9 Testing and Refinement

MGM polytechnic college, Pampakuda Page 6

Fig: 4.1 Simple Block Diagram

MGM polytechnic college, Pampakuda Page 7

Fig: 4.2 Circuit Diagram

 Flame Sensor: To detect the presence of a fire.

 12 Motor Drivers: To control the movement of the robot's wheels.

 DC Motors: To drive the wheels of the robot.

 Batteries: To power the robot and its components.

MGM polytechnic college, Pampakuda Page 8

 Flame Detection: The flame sensor continuously monitors the surrounding

MGM polytechnic college, Pampakuda Page 9

MGM polytechnic college, Pampakuda Page 10

6.1 FIRE FIGHTING ROBO CAR CIRCUIT SIMULATION

Fig: 6.1 Simulation Diagram.

The Arduino Uno needs to be programmed to handle the various tasks,

MGM polytechnic college, Pampakuda Page 11

6.2 PROGRAM CODE REVIEW

MGM polytechnic college, Pampakuda Page 13

MGM polytechnic college, Pampakuda Page 14

MGM polytechnic college, Pampakuda Page 15

6.3 COMPONENTS REQUIRED

i. Arduino Board (UNO)

ii. Flame sensor module (3 Nos)

iii. Servo Motor (SG90)

iv. L293D motor Driver module

v. Mini DC Submersible Pump

vi. Small Breadboard

vii. Robot chassis with motors (two wheels)

viii. On – off switch

ix. Connecting wires/ jumper wire

xi. Battery 12v

xii. USB cable

 Arduino Uno: The brain of the robot, controlling various components.